Review of sensors and sensor integration for the control of a humanoid robot

A 2-legged humanoid robot requires several types of sensors for balancing and gait generation. High accuracy and resolution of these sensors is of paramount importance for successful control of the humanoid. In this paper we review some of these sensors and evaluate their suitability for use in a small-sized humanoid. Various force sensors are reviewed and their advantages and disadvantages are discussed. Gyroscopes and AHRS (Attitude Heading Reference System) are investigated and tests are performed on all units to obtain operational characteristics and accuracy. These sensors have been incorporated and evaluated on an actual humanoid which has been built in our laboratories.